农业专用自动导引小车（ AGV ）作为农业作业的通用运载平台，是针对具体应用环境而设计的特定用途机器人，已成为农业自动化的一个重要发展方向。为此，介绍了一种基于多轴运动控制器的现代农业自动化AGV小车。同时，针对差速转向驱动型AGV小车路径跟随问题，首先对该AGV系统进行了理论分析和运动学建模；然后应用模糊控制理论，设计了以距离偏差和角度偏差为输入、左右驱动轮速度差为输出的模糊控制器；最后，在MatLab／Simulink 环境中进行仿真验证。仿真结果表明：设计的模糊控制器在直线和圆周路径上跟踪性能明显优于常规PID控制器，其有效性和可行性得到了验证。%As a common platform for agricultural operations , agricultural automatic guided vehicle ( AGV ) is a kind of robot that is particularly designed for specific application environment .It is becoming more and more important in agricul-tural automatic .An AGV used in automation of modern agriculture based on multi axis motion controller is proposed .Ai-ming at AGV path following problem ,a kinematic model of the AGV is established and analyzed .Then a fuzzy controller with distance deviation and angle deviation as inputs , difference of left and right wheel ’ s speed as output is designed , based on fuzzy control theory .Finally , the control system is simulated in the simulink module of the Matlab platform . The results indicated that the system follows in the linear and circular path on a clear advantage than the conventional PID control system .Its effectiveness and feasibility has been verified .
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